Marc Toussaint wrote:
-- Adam, your matlab example uses a different code for forward and
backward simulation only because of the finite time steps and plain
Euler integration, right? Actually, I thought, that ODE should make
something smarter than Euler integration, maybe Runge-Kutta 4th order
or something...?
Actually ODE uses pretty much the same thing. RK4 would have to run the
constraint solver, collision detection, etc. four times per time step
without any good reason.
-- Adam